Robust Control of Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robust Control of Robots write by Adriano A. G. Siqueira. This book was released on 2011-08-14. Robust Control of Robots available in PDF, EPUB and Kindle. Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
Dynamics and Robust Control of Robot-Environment Interaction
Dynamics and Robust Control of Robot-Environment Interaction - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamics and Robust Control of Robot-Environment Interaction write by Miomir Vukobratovic. This book was released on 2009. Dynamics and Robust Control of Robot-Environment Interaction available in PDF, EPUB and Kindle. This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.
Recent Advances in Robust Control
Recent Advances in Robust Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Recent Advances in Robust Control write by Andreas Müller. This book was released on 2011-11-21. Recent Advances in Robust Control available in PDF, EPUB and Kindle. Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics.
Dynamics and Robust Control of Robot-environment Interaction
Dynamics and Robust Control of Robot-environment Interaction - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Dynamics and Robust Control of Robot-environment Interaction write by Miomir Vukobratovi?. This book was released on 2009. Dynamics and Robust Control of Robot-environment Interaction available in PDF, EPUB and Kindle. This book covers the most attractive problem in robot control, dealing with the direct interaction between a robot and a dynamic environment, including the human-robot physical interaction. It provides comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modeling of robots interacting with complex dynamic environments, and proceeding to various concepts for interaction control design and implementation algorithms at different control layers. Focusing on the learning principle, it also shows the application of new and advanced learning algorithms for robotic contact tasks.The ultimate aim is to strike a good balance between the necessary theoretical framework and theoretical aspects of interactive robots.
Adaptive Robust Control for Planar Snake Robots
Adaptive Robust Control for Planar Snake Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive Robust Control for Planar Snake Robots write by Joyjit Mukherjee. This book was released on 2021-05-11. Adaptive Robust Control for Planar Snake Robots available in PDF, EPUB and Kindle. This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion. Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.
